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WP altitude enforce hold fix

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breadoven 2024-05-03 11:46:33 +01:00
parent f88f6309b8
commit 2a62aff039
1 changed files with 5 additions and 4 deletions
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9
src/main/navigation/navigation.c
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@ -4081,10 +4081,11 @@ bool isLastMissionWaypoint(void)
/* Checks if Nav hold position is active */ /* Checks if Nav hold position is active */
bool isNavHoldPositionActive(void) bool isNavHoldPositionActive(void)
{ {
// WP mode last WP hold and Timed hold positions // WP mode last WP hold and Timed/Alt Enforce hold positions
if (FLIGHT_MODE(NAV_WP_MODE)) { return isLastMissionWaypoint() ||
return isLastMissionWaypoint() || posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_HOLD_TIME; NAV_Status.state == MW_NAV_STATE_HOLD_TIMED ||
} posControl.waypointList[posControl.activeWaypointIndex].action == NAV_WP_ACTION_HOLD_TIME;
// RTH mode (spiral climb and Home positions but excluding RTH Trackback point positions) and POSHOLD mode // RTH mode (spiral climb and Home positions but excluding RTH Trackback point positions) and POSHOLD mode
// Also hold position during emergency landing if position valid // Also hold position during emergency landing if position valid
return (FLIGHT_MODE(NAV_RTH_MODE) && !posControl.flags.rthTrackbackActive) || return (FLIGHT_MODE(NAV_RTH_MODE) && !posControl.flags.rthTrackbackActive) ||